aliangdw
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robometer-4b-fft-armnet

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Robometer-4B FFT finetuned on Armnet benchmark

Full fine-tune (FFT, no LoRA) of Robometer-4B on the Armnet benchmark (so101 + bimanual_so101), using Qwen3-VL-4B backbone.

Trained for 1000 steps on 4x H200.

Armnet benchmark results (training-time custom eval)

so101: reward-alignment Pearson 0.766, policy-ranking Kendall 0.973
bimanual_so101: reward-alignment Pearson 0.873, policy-ranking Kendall 0.86

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Model size

4B params

Tensor type

BF16

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